An automatic material unloading and collecting machine for grinding machines and its implementation method

Abstract

This invention discloses an automatic grinding machine unloading and collecting machine, including a frame, a feeding conveyor belt above the frame, a vision inspection mechanism on one side of the feeding end of the feeding conveyor belt, a gripping mechanism on the other side of the feeding end of the feeding conveyor belt, a single-row product conveyor belt on one side of the gripping mechanism, a sorting mechanism above the middle section of the feeding conveyor belt, and a product handling mechanism above the end of the feeding conveyor belt. This invention also discloses a method for implementing the automatic grinding machine unloading and collecting machine. This invention features a high degree of automation, reduces the labor intensity of workers, improves the efficiency of grinding machine unloading, and prevents workers' sweaty hands from affecting product quality. Furthermore, the unloading of different product models can be switched simply through program writing, with fast switching speed and strong versatility.

Description

Technical Field

[0001] This invention belongs to the field of soft magnetic ferrite production technology, specifically relating to an automatic material receiving machine for grinding machine unloading and its implementation method. Background Technology

[0002] Currently, the collection of soft magnetic ferrite products after grinding and cleaning is mostly done manually. The manual collection involves neatly arranging the products on plastic sheets, and once the boxes are full, the materials are manually transported to the sorting station.

[0003] Manually arranging and placing products neatly on wooden boards has some drawbacks in practical applications, such as:

[0004] 1. Inefficient and prone to errors;

[0005] 2. Sweat from employees' palms can easily cause product defects.

[0006] Therefore, there is an urgent need to develop a highly compatible automated receiving machine to achieve automatic receiving of soft magnetic ferrite products after grinding and cleaning. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic grinding machine unloading and reloading machine to solve the problems mentioned in the background art. The automatic grinding machine unloading and reloading machine provided by this invention features high production efficiency, low product wear, fast switching between different product models, and significant reduction in labor and costs.

[0008] Another objective of this invention is to provide a method for implementing an automatic material receiving machine for grinding machine unloading.

[0009] To achieve the above objectives, the present invention provides the following technical solution: an automatic material receiving machine for grinding machines, comprising a frame, a feeding conveyor belt above the frame, a vision inspection mechanism on one side of the feeding end of the feeding conveyor belt, a gripping mechanism on the other side of the feeding end of the feeding conveyor belt, a single-row product conveyor belt on one side of the gripping mechanism, a sorting mechanism above the middle section of the feeding conveyor belt, a product handling mechanism above the end of the feeding conveyor belt, a wooden tray hopper on one side of the feeding conveyor belt, a wooden tray handling mechanism above the wooden tray hopper, a wooden tray conveyor belt on one side of the wooden tray hopper, a full-load wooden tray buffer hopper at the end of the wooden tray conveyor belt, a truss handling mechanism on one side of the full-load wooden tray buffer hopper, and a material cart inside the truss handling mechanism.

[0010] To photograph the products on the feeding conveyor belt and transmit the data to the PLC controller, the PLC controller controls the gripping mechanism to pick up four products at set positions and place them on a single-row product conveyor belt. This segmentation of the products on the feeding conveyor belt facilitates gripping by the subsequent product handling mechanism. Furthermore, the vision inspection mechanism includes a vision inspection mechanism bracket, which is mounted on a frame. A vision inspection lifting module is installed at the upper end of the vision inspection mechanism bracket. A camera and a light source are connected to the output end of the vision inspection lifting module, with the camera located above the light source. The gripping mechanism includes a four-axis robot, and several suction nozzles are installed on the output end of the four-axis robot.

[0011] To separate the products into left and right columns, thus providing a buffer time for the product handling mechanism to grasp the products and effectively improving the efficiency of material collection, the sorting mechanism further includes a sorting mechanism X-axis module, which is mounted on the frame. A sorting mechanism Y-axis module is installed on the output end of the sorting mechanism X-axis module, a sorting mechanism Z-axis module is installed on the output end of the sorting mechanism Y-axis module, a double slider screw module is installed on the output end of the sorting mechanism Z-axis module, and a shift fork is connected to the output end of the double slider screw module.

[0012] In order to pick up the products on the feeding conveyor belt and put them onto the wooden tray to realize the automatic tray placement of the products, the product handling mechanism further includes a product handling traverse module, a product handling lifting module is connected to the output end of the product handling traverse module, and a magnetic suction head is connected to the output end of the product handling lifting module.

[0013] To store empty wooden pallets and enable automatic feeding of empty wooden pallets, the wooden pallet hopper further includes a wooden pallet hopper mounting plate, which is installed above the frame. A rack and pinion lifting module is installed on the wooden pallet hopper mounting plate, and a lifting guide rail for guiding the rack and pinion lifting module is also installed on the wooden pallet hopper mounting plate. A pallet is connected to the output end of the rack and pinion lifting module, and at least four guide shafts located on the outside of the pallet are installed above the frame.

[0014] In order to transport empty wooden trays onto the wooden tray conveyor belt, the wooden tray transport mechanism further includes a wooden tray transport mechanism lateral movement module, which is installed above the frame. A wooden tray transport mechanism lifting module is installed on the output end of the wooden tray transport mechanism lateral movement module, and a wooden tray transport suction cup is installed on the output end of the wooden tray transport mechanism lifting module.

[0015] In order to lift the full wooden pallet for easy grabbing by the truss handling mechanism, the full wooden pallet buffer hopper further includes a hopper enclosure, wherein the hopper enclosure is installed above the frame, a lifting cylinder is provided inside the hopper enclosure, a lifting plate slides inside the hopper enclosure, and the output end of the lifting cylinder is connected to the lifting plate.

[0016] To facilitate the automatic loading of full wooden pallets from the pallet buffer hopper into the material cart, the truss handling mechanism further includes a truss. The truss is mounted above the frame, and a truss Y-axis module is mounted above the truss. A truss X-axis module is mounted on the output end of the truss Y-axis module, a truss Z-axis module is mounted on the output end of the truss X-axis module, and a gripper is mounted on the output end of the truss Z-axis module.

[0017] Furthermore, in this invention, the method for implementing an automatic grinding machine unloading and collecting machine includes the following steps:

[0018] (i) The product after grinding by the grinding machine is fed onto the feed conveyor belt and conveyed backward;

[0019] (ii) The visual inspection agency takes pictures of the products and works with the gripping mechanism to segment the products on the feeding conveyor belt. The gripping mechanism then places the removed products onto a single-row product conveyor belt.

[0020] (III) When the segmented products pass through the sorting mechanism, the sorting mechanism will sort the products into two columns, left and right.

[0021] (iv) The wooden tray handling mechanism grabs the wooden trays in the wooden tray bin and places them onto the wooden tray conveyor belt;

[0022] (v) The product handling mechanism will move the products on the feeding conveyor belt to the wooden trays on the wooden tray conveyor belt for placement.

[0023] (vi) When a single wooden tray is full, the wooden tray conveyor belt will transport the wooden tray full of products to the full wooden tray buffer hopper at the end. At the same time, the wooden tray handling mechanism will pick up the new wooden tray and put it on the wooden tray conveyor belt to wait for it to be stacked again.

[0024] (vii) The lifting cylinder lifts the wooden trays in the wooden tray buffer hopper upwards, and the truss handling mechanism moves the wooden trays filled with products in the wooden tray buffer hopper to the material cart.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] 1. This invention uses a visual inspection mechanism to photograph the products on the feeding conveyor belt and transmits the data to a PLC controller. The PLC controller controls the gripping mechanism to pick up four products at set positions and place them on a single-row product conveyor belt, thereby segmenting the products on the feeding conveyor belt to facilitate gripping by the subsequent product handling mechanism.

[0027] 2. This invention uses a product handling mechanism to grab products from the feeding conveyor belt onto a wooden tray, thereby achieving automatic product tray placement;

[0028] 3. The full-load wooden pallet buffer bin of the present invention is used to lift the full-load wooden pallet, making it easier for the truss handling mechanism to grab it;

[0029] 4. This invention uses a truss transport mechanism to move full wooden pallets from the full wooden pallet buffer silo to the material vehicle, thereby realizing automatic loading of full wooden pallets.

[0030] 5. The present invention divides the products into left and right columns by a sorting mechanism, thereby providing a buffer time for the product handling mechanism to grasp the products, effectively improving the efficiency of material receiving.

[0031] 6. This invention stores empty wooden trays in a wooden tray hopper and transports them to a wooden tray conveyor belt via a wooden tray handling mechanism, thereby achieving automatic feeding of empty wooden trays;

[0032] 7. This invention has a high degree of automation, which reduces the labor intensity of workers, improves the work efficiency of grinding machine blanking, and avoids the sweat on the workers' palms from getting on the products and affecting product quality. At the same time, the blanking of different models of products can be switched by simply writing the program, with fast switching speed and strong versatility. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the visual inspection mechanism of the present invention;

[0035] Figure 3 This is a schematic diagram of the gripping mechanism of the present invention;

[0036] Figure 4 This is a schematic diagram of the distribution mechanism of the present invention;

[0037] Figure 5 This is a schematic diagram of the product handling mechanism of the present invention;

[0038] Figure 6 This is a schematic diagram of the wooden pallet silo structure of the present invention;

[0039] Figure 7 This is a schematic diagram of the wooden tray handling mechanism of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of the full-load wooden pallet buffer hopper of the present invention;

[0041] Figure 9 This is a schematic diagram of the truss handling mechanism of the present invention;

[0042] In the diagram: 1. Frame; 2. Feed conveyor belt; 3. Vision inspection mechanism; 31. Vision inspection mechanism support; 32. Vision inspection lifting module; 33. Camera; 34. Light source; 4. Separating mechanism; 41. Separating mechanism X-axis module; 42. Double slider lead screw module; 43. Separating mechanism Z-axis module; 44. Separating mechanism Y-axis module; 45. Fork; 5. Product handling mechanism; 51. Product handling lateral movement module; 52. Product handling lifting module; 53. Magnetic suction head; 6. Truss handling mechanism; 61. Truss; 62. Truss Y-axis module; 63. Truss X-axis module; 64. Truss Z-axis module; 65. Gripper; 7. Material cart; 8. Full-load wooden tray buffer hopper; 81. Hopper enclosure; 82. Lifting plate; 83. Lifting cylinder; 9. Wooden tray conveyor belt; 10. Wooden tray handling mechanism; 101. Wooden tray handling mechanism transverse module; 102. Wooden tray handling mechanism lifting module; 103. Wooden tray handling suction cup; 11. Wooden tray hopper; 111. Wooden tray hopper mounting plate; 112. Lifting guide rail; 113. Rack and pinion lifting module; 114. Pallet; 115. Guide shaft; 12. Single-row product conveyor belt; 13. Gripping mechanism; 131. Four-axis robot; 132. Suction nozzle. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example 1

[0045] Please see Figure 1-8 The present invention provides the following technical solution: an automatic material receiving machine for grinding machine unloading, comprising a frame 1, a feeding conveyor belt 2 above the frame 1, a vision inspection mechanism 3 on one side of the feeding end of the feeding conveyor belt 2, a gripping mechanism 13 on the other side of the feeding end of the feeding conveyor belt 2, a single-row product conveyor belt 12 on one side of the gripping mechanism 13, a sorting mechanism 4 above the middle section of the feeding conveyor belt 2, a product handling mechanism 5 above the end of the feeding conveyor belt 2, a wooden tray hopper 11 on one side of the feeding conveyor belt 2, a wooden tray handling mechanism 10 above the wooden tray hopper 11, a wooden tray conveyor belt 9 on one side of the wooden tray hopper 11, a full-load wooden tray buffer hopper 8 at the end of the wooden tray conveyor belt 9, a truss handling mechanism 6 on one side of the full-load wooden tray buffer hopper 8, and a material cart 7 inside the truss handling mechanism 6. The feeding conveyor belt 2, the wooden tray conveyor belt 9, and the single-row product conveyor belt 12 are all connected to a PLC controller.

[0046] Specifically, the visual inspection mechanism 3 includes a visual inspection mechanism support 31, which is mounted on the frame 1. A visual inspection lifting module 32 is mounted on the upper end of the visual inspection mechanism support 31. A camera 33 and a light source 34 are connected to the output end of the visual inspection lifting module 32. The camera 33 is located above the light source 34. The gripping mechanism 13 includes a four-axis robot 131. Four suction nozzles 132 are mounted on the output end of the four-axis robot 131. The visual inspection lifting module 32, camera 33, light source 34, four-axis robot 131, and suction nozzles 132 are all connected to the PLC controller.

[0047] By adopting the above technical solution, the visual inspection mechanism 3 takes pictures of the products on the feeding conveyor belt 2 and transmits the data to the PLC controller. The PLC controller controls the gripping mechanism 13 to pick up the four products at the set position and place them on the single-row product conveyor belt 12, thereby realizing the segmentation of the products on the feeding conveyor belt 2, which facilitates the gripping of the subsequent product handling mechanism 5.

[0048] Specifically, the product handling mechanism 5 includes a product handling lateral movement module 51, a product handling lifting module 52 connected to the output end of the product handling lateral movement module 51, a magnetic head 53 connected to the output end of the product handling lifting module 52, and the product handling lateral movement module 51, the product handling lifting module 52, and the magnetic head 53 are all connected to the PLC controller signal.

[0049] By adopting the above technical solution, the products on the feeding conveyor belt 2 are picked up and placed onto the wooden tray, realizing the automatic tray placement of the products.

[0050] Specifically, the full-material wooden pallet buffer hopper 8 includes a hopper enclosure 81, wherein the hopper enclosure 81 is installed above the frame 1, a lifting cylinder 83 is provided inside the hopper enclosure 81, a lifting plate 82 slides inside the hopper enclosure 81, the output end of the lifting cylinder 83 is connected to the lifting plate 82, and the lifting cylinder 83 is connected to the PLC controller signal.

[0051] The above technical solution is used to lift the full wooden pallet, making it easier for the truss handling mechanism 6 to grab it.

[0052] Specifically, the truss handling mechanism 6 includes a truss 61, which is installed above the frame 1. A truss Y-axis module 62 is installed above the truss 61. A truss X-axis module 63 is installed on the output end of the truss Y-axis module 62. A truss Z-axis module 64 is installed on the output end of the truss X-axis module 63. A gripper 65 is installed on the output end of the truss Z-axis module 64. The truss Y-axis module 62, truss X-axis module 63, truss Z-axis module 64, and gripper 65 are all connected to the PLC controller via signals.

[0053] By adopting the above technical solution, the full wooden pallets in the full wooden pallet buffer bin 8 are transported to the material car 7 by the truss handling mechanism 6, thereby realizing the automatic loading of full wooden pallets.

[0054] Example 2

[0055] The difference between this embodiment and Embodiment 1 is as follows: Specifically, the sorting mechanism 4 includes a sorting mechanism X-axis module 41, which is mounted on the frame 1. A sorting mechanism Y-axis module 44 is mounted on the output end of the sorting mechanism X-axis module 41, a sorting mechanism Z-axis module 43 is mounted on the output end of the sorting mechanism Y-axis module 44, and a double slider lead screw module 42 is mounted on the output end of the sorting mechanism Z-axis module 43. A shift fork 45 is connected to the output end of the double slider lead screw module 42. When the motor of the double slider lead screw module 42 drives the lead screw to rotate clockwise, the two sliders move inward. When the motor of the double slider lead screw module 42 drives the lead screw to rotate counterclockwise, the two sliders move outward, thereby adjusting the distance between the two shift forks 45, thus making it suitable for products of different specifications. The sorting mechanism X-axis module 41, double slider lead screw module 42, sorting mechanism Z-axis module 43, and sorting mechanism Y-axis module 44 are all connected to the PLC controller signal.

[0056] By adopting the above technical solution, the products are divided into left and right columns by the sorting mechanism 4, thereby providing buffer time for the product handling mechanism 5 to grab the products, effectively improving the efficiency of material receiving.

[0057] Example 3

[0058] The difference between this embodiment and embodiment 1 is that, specifically, the wooden tray hopper 11 includes a wooden tray hopper mounting plate 111, which is installed above the frame 1. A rack and pinion lifting module 113 is installed on the wooden tray hopper mounting plate 111, and a lifting guide rail 112 for guiding the rack and pinion lifting module 113 is also installed on the wooden tray hopper mounting plate 111. A support plate 114 is connected to the output end of the rack and pinion lifting module 113. At least four guide shafts 115 located outside the support plate 114 are also installed above the frame 1. The rack and pinion lifting module 113 is connected to the PLC controller via signal.

[0059] By adopting the above technical solution, empty wooden trays can be stored, and automatic feeding of empty wooden trays can be achieved.

[0060] Specifically, the wooden tray transport mechanism 10 includes a wooden tray transport mechanism lateral movement module 101, which is installed above the frame 1. A wooden tray transport mechanism lifting module 102 is installed on the output end of the wooden tray transport mechanism lateral movement module 101, and a wooden tray transport suction cup 103 is installed on the output end of the wooden tray transport mechanism lifting module 102.

[0061] The above technical solution is used to transport empty wooden pallets onto the wooden pallet conveyor belt 9.

[0062] Example 4

[0063] The difference between this embodiment and Embodiment 1 is that: further, the implementation method of the automatic grinding machine unloading and collecting machine of the present invention includes the following steps:

[0064] (i) The product after grinding by the grinding machine is fed onto the feed conveyor belt 2 and conveyed backward;

[0065] (ii) The visual inspection mechanism 3 takes pictures of the product and works with the gripping mechanism 13 to segment the product on the feeding conveyor belt 2. The gripping mechanism 13 then places the product it has taken away onto the single-row product conveyor belt 12.

[0066] (III) When the segmented products pass through the sorting mechanism 4, the sorting mechanism 4 will sort the products into two columns, left and right.

[0067] (iv) The wooden tray handling mechanism 10 grabs the wooden trays in the wooden tray bin 11 and places them onto the wooden tray conveyor belt 9;

[0068] (v) The product handling mechanism 5 handles the products on the feeding conveyor belt 2 and places them on the wooden trays on the wooden tray conveyor belt 9.

[0069] (vi) When a single wooden tray is full, the wooden tray conveyor belt 9 transports the wooden tray full of products to the full wooden tray buffer hopper 8 at the end. At the same time, the wooden tray handling mechanism 10 picks up the new wooden tray and places it on the wooden tray conveyor belt 9 to wait for it to be placed again.

[0070] (vii) The lifting cylinder 83 lifts the wooden trays in the full wooden tray buffer bin 8 upwards, and the truss transport mechanism 6 transports the wooden trays filled with products in the full wooden tray buffer bin 8 to the material cart 7.

[0071] In summary, this invention uses a visual inspection mechanism 3 to photograph the products on the feeding conveyor belt 2 and transmits the data to a PLC controller. The PLC controller then controls the gripping mechanism 13 to pick up four products at designated positions and place them on a single-row product conveyor belt 12, thus segmenting the products on the feeding conveyor belt 2 for easier gripping by the subsequent product handling mechanism 5. This invention also uses the product handling mechanism 5 to grip the products on the feeding conveyor belt 2 onto wooden trays, achieving automatic tray placement. The full-load wooden tray buffer bin 8 is used to lift full-load wooden trays, facilitating gripping by the truss handling mechanism 6. Finally, the truss handling mechanism 6 transports full-load wooden trays from the full-load wooden tray buffer bin 8. The product is automatically loaded into the material cart 7, where it is full of wooden trays. The present invention uses a sorting mechanism 4 to sort the products into two columns, providing a buffer time for the product handling mechanism 5 to grasp the products, thus effectively improving the efficiency of material collection. The present invention uses a wooden tray hopper 11 to store empty wooden trays, and uses a wooden tray handling mechanism 10 to transport the empty wooden trays to the wooden tray conveyor belt 9, thus realizing automatic feeding of empty wooden trays. The present invention has a high degree of automation, reduces the labor intensity of workers, improves the efficiency of grinding machine unloading, and avoids the sweat on the workers' palms from getting on the products, which affects the product quality. At the same time, the unloading of different models of products can be switched simply by writing a program, with fast switching speed and strong versatility.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for implementing an automatic material receiving machine for grinding machine unloading, characterized in that, The automatic material receiving machine for grinding machines includes a frame, a feeding conveyor belt above the frame, a vision inspection mechanism on one side of the feeding end of the feeding conveyor belt, a gripping mechanism on the other side of the feeding end of the feeding conveyor belt, a single-row product conveyor belt on one side of the gripping mechanism, a sorting mechanism above the middle section of the feeding conveyor belt, a product handling mechanism above the end of the feeding conveyor belt, a wooden tray hopper on one side of the feeding conveyor belt, a wooden tray handling mechanism above the wooden tray hopper, a wooden tray conveyor belt on one side of the wooden tray hopper, a full-load wooden tray buffer hopper at the end of the wooden tray conveyor belt, a truss handling mechanism on one side of the full-load wooden tray buffer hopper, and a material cart inside the truss handling mechanism; the full-load wooden tray buffer hopper includes a hopper enclosure, wherein the hopper enclosure is installed above the frame, a lifting cylinder is installed inside the hopper enclosure, a lifting plate slides inside the hopper enclosure, and the output end of the lifting cylinder is connected to the lifting plate; The method includes the following steps: (a) The product ground by the grinding machine is fed onto the feed conveyor belt and transported backward; (ii) The visual inspection agency takes pictures of the products and works with the gripping mechanism to segment the products on the feeding conveyor belt. The gripping mechanism then places the removed products onto a single-row product conveyor belt. (iii) When the segmented products pass through the sorting mechanism, the sorting mechanism will sort the products into two columns, left and right. (iv) The wooden tray handling mechanism picks up the wooden trays in the wooden tray hopper and places them onto the wooden tray conveyor belt; (v) The product handling mechanism will transfer the products from the feed conveyor belt to the wooden trays on the wooden tray conveyor belt for placement; (vi) When a single wooden tray is full, the wooden tray conveyor belt will transport the wooden tray full of products to the full wooden tray buffer hopper at the end. At the same time, the wooden tray handling mechanism will pick up the new wooden tray and put it on the wooden tray conveyor belt to wait for it to be stacked again. (vii) The lifting cylinder lifts the wooden trays in the wooden tray buffer hopper upwards, and the truss transport mechanism transports the wooden trays filled with products in the wooden tray buffer hopper to the material cart.

2. The method for implementing the automatic grinding machine unloading and collecting machine according to claim 1, characterized in that: The visual inspection mechanism includes a visual inspection mechanism support, which is mounted on a frame. A visual inspection lifting module is mounted on the upper end of the visual inspection mechanism support. A camera and a light source are connected to the output end of the visual inspection lifting module. The camera is located above the light source. The gripping mechanism includes a four-axis robot, and several suction nozzles are mounted on the output end of the four-axis robot.

3. The method for implementing the automatic grinding machine unloading and collecting machine according to claim 1, characterized in that: The sorting mechanism includes a sorting mechanism X-axis module, which is mounted on the frame. A sorting mechanism Y-axis module is mounted on the output end of the sorting mechanism X-axis module. A sorting mechanism Z-axis module is mounted on the output end of the sorting mechanism Y-axis module. A double slider screw module is mounted on the output end of the sorting mechanism Z-axis module. A shift fork is connected to the output end of the double slider screw module.

4. The method for implementing the automatic grinding machine unloading and collecting machine according to claim 1, characterized in that: The product handling mechanism includes a product handling lateral movement module, a product handling lifting module connected to the output end of the product handling lateral movement module, and a magnetic suction head connected to the output end of the product handling lifting module.

5. The method for implementing the automatic grinding machine unloading and collecting machine according to claim 1, characterized in that: The wooden tray hopper includes a wooden tray hopper mounting plate, which is installed above the frame. A rack and pinion lifting module is installed on the wooden tray hopper mounting plate, and a lifting guide rail for guiding the rack and pinion lifting module is also installed on the wooden tray hopper mounting plate. A pallet is connected to the output end of the rack and pinion lifting module, and at least four guide shafts located outside the pallet are installed above the frame.

6. The method for implementing the automatic grinding machine unloading and collecting machine according to claim 1, characterized in that: The wooden tray transport mechanism includes a horizontal moving module, which is installed above the frame. A lifting module is installed on the output end of the horizontal moving module, and a suction cup is installed on the output end of the lifting module.

7. The method for implementing the automatic grinding machine unloading and collecting machine according to claim 1, characterized in that: The truss handling mechanism includes a truss, wherein the truss is installed above the frame, a truss Y-axis module is installed above the truss, a truss X-axis module is installed on the output end of the truss Y-axis module, a truss Z-axis module is installed on the output end of the truss X-axis module, and a gripper is installed on the output end of the truss Z-axis module.

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